Package edu.wpi.first.math.geometry

Class Twist3d

java.lang.Object
edu.wpi.first.math.geometry.Twist3d
All Implemented Interfaces:
ProtobufSerializable, StructSerializable, WPISerializable
public class Twist3d
extends Object
implements ProtobufSerializable, StructSerializable
A change in distance along a 3D arc since the last pose update. We can use ideas from differential calculus to create new Pose3d objects from a Twist3d and vice versa.

A Twist can be used to represent a difference between two poses.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double dx
    Linear "dx" component.
    double dy
    Linear "dy" component.
    double dz
    Linear "dz" component.
    static Twist3dProto proto
    Twist3d protobuf for serialization.
    double rx
    Rotation vector x component (radians).
    double ry
    Rotation vector y component (radians).
    double rz
    Rotation vector z component (radians).
    static Twist3dStruct struct
    Twist3d struct for serialization.

  • Constructor Summary

    Constructors 
    Constructor Description
    Twist3d()
    Default constructor.
    Twist3d​(double dx, double dy, double dz, double rx, double ry, double rz)
    Constructs a Twist3d with the given values.

  • Method Summary

    Modifier and Type Method Description
    boolean equals​(Object obj)
    Checks equality between this Twist3d and another object.
    int hashCode()  
    String toString()  

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Field Details

    • dx

      public double dx
      Linear "dx" component.

    • dy

      public double dy
      Linear "dy" component.

    • dz

      public double dz
      Linear "dz" component.

    • rx

      public double rx
      Rotation vector x component (radians).

    • ry

      public double ry
      Rotation vector y component (radians).

    • rz

      public double rz
      Rotation vector z component (radians).

    • proto

      public static final Twist3dProto proto
      Twist3d protobuf for serialization.

    • struct

      public static final Twist3dStruct struct
      Twist3d struct for serialization.

  • Constructor Details

    • Twist3d

      public Twist3d()
      Default constructor.

    • Twist3d

      public Twist3d​(double dx, double dy, double dz, double rx, double ry, double rz)
      Constructs a Twist3d with the given values.
      Parameters:
      dx - Change in x direction relative to robot.
      dy - Change in y direction relative to robot.
      dz - Change in z direction relative to robot.
      rx - Rotation vector x component.
      ry - Rotation vector y component.
      rz - Rotation vector z component.

  • Method Details